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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
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<div class="title">pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt; 模板类 参考</div>  </div>
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<p>Octree class  
 <a href="classpcl_1_1octree_1_1_octree_base.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="octree_2include_2pcl_2octree_2octree__base_8h_source.html">octree_base.h</a>&gt;</code></p>
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类 pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1octree_1_1_octree_base.png" usemap="#pcl::octree::OctreeBase_3C_20LeafContainerT_2C_20BranchContainerT_20_3E_map" alt=""/>
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Public 类型</h2></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">OctreeBranchNode</a>&lt; BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a>&lt; LeafContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef BranchContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>BranchContainer</b></td></tr>
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typedef LeafContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>LeafContainer</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_end</b> ()</td></tr>
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<tr class="memitem:ae7fe4a307dc3c87adefb3bac2758a862"><td class="memItemLeft" align="right" valign="top"><a id="ae7fe4a307dc3c87adefb3bac2758a862"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae7fe4a307dc3c87adefb3bac2758a862">OctreeBase</a> ()</td></tr>
<tr class="memdesc:ae7fe4a307dc3c87adefb3bac2758a862"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a3576546beaf804d801ca93c541d76697">~OctreeBase</a> ()</td></tr>
<tr class="memdesc:a3576546beaf804d801ca93c541d76697"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
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<tr class="memitem:ad76bd21badf86e9b47d0c8689f6a860b"><td class="memItemLeft" align="right" valign="top"><a id="ad76bd21badf86e9b47d0c8689f6a860b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ad76bd21badf86e9b47d0c8689f6a860b">OctreeBase</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:ad76bd21badf86e9b47d0c8689f6a860b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:aae40b7560b7aaa1f70d95bc95e093601"><td class="memItemLeft" align="right" valign="top"><a id="aae40b7560b7aaa1f70d95bc95e093601"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aae40b7560b7aaa1f70d95bc95e093601">operator=</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a> &amp;source)</td></tr>
<tr class="memdesc:aae40b7560b7aaa1f70d95bc95e093601"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy operator. <br /></td></tr>
<tr class="separator:aae40b7560b7aaa1f70d95bc95e093601"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b65a6dadccce46ef7c2434f80d907d7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">setMaxVoxelIndex</a> (unsigned int max_voxel_index_arg)</td></tr>
<tr class="memdesc:a2b65a6dadccce46ef7c2434f80d907d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum amount of voxels per dimension.  <a href="classpcl_1_1octree_1_1_octree_base.html#a2b65a6dadccce46ef7c2434f80d907d7">更多...</a><br /></td></tr>
<tr class="separator:a2b65a6dadccce46ef7c2434f80d907d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7de0fe2ec6f460d6e448b846318526b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">setTreeDepth</a> (unsigned int max_depth_arg)</td></tr>
<tr class="memdesc:af7de0fe2ec6f460d6e448b846318526b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#af7de0fe2ec6f460d6e448b846318526b">更多...</a><br /></td></tr>
<tr class="separator:af7de0fe2ec6f460d6e448b846318526b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaedf340984f00bf088c8fac94fb176d7"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:aaedf340984f00bf088c8fac94fb176d7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#aaedf340984f00bf088c8fac94fb176d7">更多...</a><br /></td></tr>
<tr class="separator:aaedf340984f00bf088c8fac94fb176d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a62ea5ae9440654d09b0db929675ed5da"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a62ea5ae9440654d09b0db929675ed5da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">更多...</a><br /></td></tr>
<tr class="separator:a62ea5ae9440654d09b0db929675ed5da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8cb31ab9a56944b96eef0ace8dedacbe"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a8cb31ab9a56944b96eef0ace8dedacbe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">更多...</a><br /></td></tr>
<tr class="separator:a8cb31ab9a56944b96eef0ace8dedacbe"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adde845dfa80aec70762f8297e2b2e97c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</td></tr>
<tr class="memdesc:adde845dfa80aec70762f8297e2b2e97c"><td class="mdescLeft">&#160;</td><td class="mdescRight">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">更多...</a><br /></td></tr>
<tr class="separator:adde845dfa80aec70762f8297e2b2e97c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af316c0dedeb707141de115778016c969"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">removeLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:af316c0dedeb707141de115778016c969"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree_base.html#af316c0dedeb707141de115778016c969">更多...</a><br /></td></tr>
<tr class="separator:af316c0dedeb707141de115778016c969"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2bed940d92096c56cb9efc08aee0af9"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">getLeafCount</a> () const</td></tr>
<tr class="memdesc:ac2bed940d92096c56cb9efc08aee0af9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing leafs in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#ac2bed940d92096c56cb9efc08aee0af9">更多...</a><br /></td></tr>
<tr class="separator:ac2bed940d92096c56cb9efc08aee0af9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6969af4d54d7c8d41b16cc00579744d0"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">getBranchCount</a> () const</td></tr>
<tr class="memdesc:a6969af4d54d7c8d41b16cc00579744d0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing branch nodes in the octree.  <a href="classpcl_1_1octree_1_1_octree_base.html#a6969af4d54d7c8d41b16cc00579744d0">更多...</a><br /></td></tr>
<tr class="separator:a6969af4d54d7c8d41b16cc00579744d0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9abc561a4c6672aba260f688c8250682"><td class="memItemLeft" align="right" valign="top"><a id="a9abc561a4c6672aba260f688c8250682"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ()</td></tr>
<tr class="memdesc:a9abc561a4c6672aba260f688c8250682"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
<tr class="separator:a9abc561a4c6672aba260f688c8250682"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa0be9db52726ff7e1e58fd384e0f5e54"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg)</td></tr>
<tr class="memdesc:aa0be9db52726ff7e1e58fd384e0f5e54"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure.  <a href="classpcl_1_1octree_1_1_octree_base.html#aa0be9db52726ff7e1e58fd384e0f5e54">更多...</a><br /></td></tr>
<tr class="separator:aa0be9db52726ff7e1e58fd384e0f5e54"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e6c5b482d5280d7809b4a8484b77a5e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a4e6c5b482d5280d7809b4a8484b77a5e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4e6c5b482d5280d7809b4a8484b77a5e">更多...</a><br /></td></tr>
<tr class="separator:a4e6c5b482d5280d7809b4a8484b77a5e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a29a4753c659cdd7b27e7e83ad705c89c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">serializeLeafs</a> (std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a29a4753c659cdd7b27e7e83ad705c89c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes.  <a href="classpcl_1_1octree_1_1_octree_base.html#a29a4753c659cdd7b27e7e83ad705c89c">更多...</a><br /></td></tr>
<tr class="separator:a29a4753c659cdd7b27e7e83ad705c89c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fcd3895195eb4102f46d4d54826f554"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg)</td></tr>
<tr class="memdesc:a7fcd3895195eb4102f46d4d54826f554"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).  <a href="classpcl_1_1octree_1_1_octree_base.html#a7fcd3895195eb4102f46d4d54826f554">更多...</a><br /></td></tr>
<tr class="separator:a7fcd3895195eb4102f46d4d54826f554"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38698f38bee2f8748d20713b61f827db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_input_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a38698f38bee2f8748d20713b61f827db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with LeafContainerT elements from the dataVector.  <a href="classpcl_1_1octree_1_1_octree_base.html#a38698f38bee2f8748d20713b61f827db">更多...</a><br /></td></tr>
<tr class="separator:a38698f38bee2f8748d20713b61f827db"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a9bb6a5ef1f56528bf949e4c3e9b3dcdc"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">createLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a9bb6a5ef1f56528bf949e4c3e9b3dcdc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">更多...</a><br /></td></tr>
<tr class="separator:a9bb6a5ef1f56528bf949e4c3e9b3dcdc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08e5792b29cd493d54ba400a23505b40"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">findLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:a08e5792b29cd493d54ba400a23505b40"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a08e5792b29cd493d54ba400a23505b40">更多...</a><br /></td></tr>
<tr class="separator:a08e5792b29cd493d54ba400a23505b40"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae54aebbcf08f825f5426fc1f6f66e0b2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">existLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:ae54aebbcf08f825f5426fc1f6f66e0b2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for existance of a leaf node in the octree  <a href="classpcl_1_1octree_1_1_octree_base.html#ae54aebbcf08f825f5426fc1f6f66e0b2">更多...</a><br /></td></tr>
<tr class="separator:ae54aebbcf08f825f5426fc1f6f66e0b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4fc084486bee5e49223e52b5ea1a40c8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">removeLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a4fc084486bee5e49223e52b5ea1a40c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4fc084486bee5e49223e52b5ea1a40c8">更多...</a><br /></td></tr>
<tr class="separator:a4fc084486bee5e49223e52b5ea1a40c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd59f91dbfa1671c2d1e37e04712b286"><td class="memItemLeft" align="right" valign="top"><a id="acd59f91dbfa1671c2d1e37e04712b286"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#acd59f91dbfa1671c2d1e37e04712b286">getRootNode</a> () const</td></tr>
<tr class="memdesc:acd59f91dbfa1671c2d1e37e04712b286"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve root node <br /></td></tr>
<tr class="separator:acd59f91dbfa1671c2d1e37e04712b286"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a39c116718d47fb0086ff94117551fc1d"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">branchHasChild</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a39c116718d47fb0086ff94117551fc1d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if branch is pointing to a particular child node  <a href="classpcl_1_1octree_1_1_octree_base.html#a39c116718d47fb0086ff94117551fc1d">更多...</a><br /></td></tr>
<tr class="separator:a39c116718d47fb0086ff94117551fc1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9a4721b246ca10cb45f130835e6e5f5b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">getBranchChildPtr</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a9a4721b246ca10cb45f130835e6e5f5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve a child node pointer for child node at child_idx.  <a href="classpcl_1_1octree_1_1_octree_base.html#a9a4721b246ca10cb45f130835e6e5f5b">更多...</a><br /></td></tr>
<tr class="separator:a9a4721b246ca10cb45f130835e6e5f5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a61d7ddd454369c5e23054bb1cdadc540"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">setBranchChildPtr</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *new_child_arg)</td></tr>
<tr class="memdesc:a61d7ddd454369c5e23054bb1cdadc540"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign new child node to branch  <a href="classpcl_1_1octree_1_1_octree_base.html#a61d7ddd454369c5e23054bb1cdadc540">更多...</a><br /></td></tr>
<tr class="separator:a61d7ddd454369c5e23054bb1cdadc540"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abe9d23b2322f32b2ee26c1d9c02dcea3"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">getBranchBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:abe9d23b2322f32b2ee26c1d9c02dcea3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bit pattern reflecting the existence of child node pointers  <a href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">更多...</a><br /></td></tr>
<tr class="separator:abe9d23b2322f32b2ee26c1d9c02dcea3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeb95bc5e61e5c7c5e80030be0fda5997"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:aeb95bc5e61e5c7c5e80030be0fda5997"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete child node and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">更多...</a><br /></td></tr>
<tr class="separator:aeb95bc5e61e5c7c5e80030be0fda5997"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4766cdedf01eac19a565648b372dac93"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg)</td></tr>
<tr class="memdesc:a4766cdedf01eac19a565648b372dac93"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete branch and all its subchilds from octree  <a href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">更多...</a><br /></td></tr>
<tr class="separator:a4766cdedf01eac19a565648b372dac93"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cec91269a5138bf75973e866015c660"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a2cec91269a5138bf75973e866015c660"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new branch child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">更多...</a><br /></td></tr>
<tr class="separator:a2cec91269a5138bf75973e866015c660"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afca846cfd2002a905d1304bf663394f0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:afca846cfd2002a905d1304bf663394f0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create and add a new leaf child to a branch class  <a href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">更多...</a><br /></td></tr>
<tr class="separator:afca846cfd2002a905d1304bf663394f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a441fbe7d3df743a9e13be569c9620c55"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;return_leaf_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&amp;parent_of_leaf_arg)</td></tr>
<tr class="memdesc:a441fbe7d3df743a9e13be569c9620c55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node at octree key. If leaf node does already exist, it is returned.  <a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">更多...</a><br /></td></tr>
<tr class="separator:a441fbe7d3df743a9e13be569c9620c55"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3f8693893b6ee4925cf082716a607ed"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, LeafContainerT *&amp;result_arg) const</td></tr>
<tr class="memdesc:ab3f8693893b6ee4925cf082716a607ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search for a given leaf node and return a pointer.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">更多...</a><br /></td></tr>
<tr class="separator:ab3f8693893b6ee4925cf082716a607ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6304cd86b4c714e949c68c328f10e8c6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg)</td></tr>
<tr class="memdesc:a6304cd86b4c714e949c68c328f10e8c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search and delete leaf node  <a href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">更多...</a><br /></td></tr>
<tr class="separator:a6304cd86b4c714e949c68c328f10e8c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9fdbf009e279243a3a1cd99caec05db"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg) const</td></tr>
<tr class="memdesc:ab9fdbf009e279243a3a1cd99caec05db"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs.  <a href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">更多...</a><br /></td></tr>
<tr class="separator:ab9fdbf009e279243a3a1cd99caec05db"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1530f19c68fa7fed82198f1444b7b114"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *branch_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg)</td></tr>
<tr class="memdesc:a1530f19c68fa7fed82198f1444b7b114"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursive method for deserializing octree structure  <a href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">更多...</a><br /></td></tr>
<tr class="separator:a1530f19c68fa7fed82198f1444b7b114"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0822f6b8272dfe619009873bba7a1211"><td class="memItemLeft" align="right" valign="top"><a id="a0822f6b8272dfe619009873bba7a1211"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">serializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;) const</td></tr>
<tr class="memdesc:a0822f6b8272dfe619009873bba7a1211"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during serialization <br /></td></tr>
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<tr class="memitem:afac6e5f2cf2e95a27b4a529275e7ba7e"><td class="memItemLeft" align="right" valign="top"><a id="afac6e5f2cf2e95a27b4a529275e7ba7e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">deserializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)</td></tr>
<tr class="memdesc:afac6e5f2cf2e95a27b4a529275e7ba7e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node during deserialization <br /></td></tr>
<tr class="separator:afac6e5f2cf2e95a27b4a529275e7ba7e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a84f6098ca21b73b3cf13ca2596238326"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">Log2</a> (double n_arg)</td></tr>
<tr class="memdesc:a84f6098ca21b73b3cf13ca2596238326"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function to calculate the binary logarithm  <a href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">更多...</a><br /></td></tr>
<tr class="separator:a84f6098ca21b73b3cf13ca2596238326"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cf92b5f2a5b59e679c12aab3dd276d6"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">octreeCanResize</a> ()</td></tr>
<tr class="memdesc:a4cf92b5f2a5b59e679c12aab3dd276d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.  <a href="classpcl_1_1octree_1_1_octree_base.html#a4cf92b5f2a5b59e679c12aab3dd276d6">更多...</a><br /></td></tr>
<tr class="separator:a4cf92b5f2a5b59e679c12aab3dd276d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a2a74d829fa6bc41a9823e42b9bbb5e59"><td class="memItemLeft" align="right" valign="top"><a id="a2a74d829fa6bc41a9823e42b9bbb5e59"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a></td></tr>
<tr class="memdesc:a2a74d829fa6bc41a9823e42b9bbb5e59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of leaf nodes <br  />
 <br /></td></tr>
<tr class="separator:a2a74d829fa6bc41a9823e42b9bbb5e59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a554d101328545d88304af3d817fb4f19"><td class="memItemLeft" align="right" valign="top"><a id="a554d101328545d88304af3d817fb4f19"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a></td></tr>
<tr class="memdesc:a554d101328545d88304af3d817fb4f19"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of branch nodes <br  />
 <br /></td></tr>
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<tr class="memitem:a2ea6c9036575ec8e55ae59938036478a"><td class="memItemLeft" align="right" valign="top"><a id="a2ea6c9036575ec8e55ae59938036478a"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a></td></tr>
<tr class="memdesc:a2ea6c9036575ec8e55ae59938036478a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to root branch node of octree <br  />
 <br /></td></tr>
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<tr class="memitem:af37a3e55a658f428b6190dcdcec28b89"><td class="memItemLeft" align="right" valign="top"><a id="af37a3e55a658f428b6190dcdcec28b89"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a></td></tr>
<tr class="memdesc:af37a3e55a658f428b6190dcdcec28b89"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth mask based on octree depth <br  />
 <br /></td></tr>
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<tr class="memitem:a2727267eed42ae776bbd8ea84b91187d"><td class="memItemLeft" align="right" valign="top"><a id="a2727267eed42ae776bbd8ea84b91187d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a></td></tr>
<tr class="memdesc:a2727267eed42ae776bbd8ea84b91187d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree depth <br /></td></tr>
<tr class="separator:a2727267eed42ae776bbd8ea84b91187d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6044a82930ab95b427828ff022e7d1e3"><td class="memItemLeft" align="right" valign="top"><a id="a6044a82930ab95b427828ff022e7d1e3"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a></td></tr>
<tr class="memdesc:a6044a82930ab95b427828ff022e7d1e3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable dynamic_depth <br /></td></tr>
<tr class="separator:a6044a82930ab95b427828ff022e7d1e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae03f7feba50b4bca74c8a6aeba9aba3c"><td class="memItemLeft" align="right" valign="top"><a id="ae03f7feba50b4bca74c8a6aeba9aba3c"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a></td></tr>
<tr class="memdesc:ae03f7feba50b4bca74c8a6aeba9aba3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">key range <br /></td></tr>
<tr class="separator:ae03f7feba50b4bca74c8a6aeba9aba3c"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
友元</h2></td></tr>
<tr class="memitem:afbffbe37e9f198bcca90f04596e3644b"><td class="memItemLeft" align="right" valign="top"><a id="afbffbe37e9f198bcca90f04596e3644b"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeIteratorBase&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:afbffbe37e9f198bcca90f04596e3644b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a006bd41bf2a4e5477c5c12b1cbc64893"><td class="memItemLeft" align="right" valign="top"><a id="a006bd41bf2a4e5477c5c12b1cbc64893"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeDepthFirstIterator&lt; OctreeT &gt;</b></td></tr>
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<tr class="memitem:a72445f2ef197d672452ba776f9afc8e0"><td class="memItemLeft" align="right" valign="top"><a id="a72445f2ef197d672452ba776f9afc8e0"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeBreadthFirstIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a72445f2ef197d672452ba776f9afc8e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a679b511f7d9b329ca60975da3020d33f"><td class="memItemLeft" align="right" valign="top"><a id="a679b511f7d9b329ca60975da3020d33f"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeLeafNodeIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a679b511f7d9b329ca60975da3020d33f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty&gt;<br />
class pcl::octree::OctreeBase&lt; LeafContainerT, BranchContainerT &gt;</h3>

<p>Octree class </p>
<dl class="section note"><dt>注解</dt><dd>The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined). </dd>
<dd>
All leaf nodes are addressed by integer indices. </dd>
<dd>
Note: The tree depth equates to the bit length of the voxel indices.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Julius Kammerl (<a href="#" onclick="location.href='mai'+'lto:'+'jul'+'iu'+'s@k'+'am'+'mer'+'l.'+'de'; return false;">juliu<span style="display: none;">.nosp@m.</span>s@ka<span style="display: none;">.nosp@m.</span>mmerl<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a39c116718d47fb0086ff94117551fc1d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a39c116718d47fb0086ff94117551fc1d">&#9670;&nbsp;</a></span>branchHasChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::branchHasChild </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Check if branch is pointing to a particular child node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if pointer to child node exists; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        {</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;          <span class="comment">// test occupancyByte for child existence</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;          <span class="keywordflow">return</span> (branch_arg.getChildPtr(child_idx_arg) != 0);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;        }</div>
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</div>
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<a id="a2cec91269a5138bf75973e866015c660"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2cec91269a5138bf75973e866015c660">&#9670;&nbsp;</a></span>createBranchChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createBranchChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Create and add a new branch child to a branch class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer of new branch child to this reference </dd></dl>
<div class="fragment"><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        {</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;          BranchNode* new_branch_child = <span class="keyword">new</span> BranchNode();</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          branch_arg[child_idx_arg] = <span class="keyword">static_cast&lt;</span>OctreeNode*<span class="keyword">&gt;</span> (new_branch_child);</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;          <span class="keywordflow">return</span> new_branch_child;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        }</div>
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<a id="a9bb6a5ef1f56528bf949e4c3e9b3dcdc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9bb6a5ef1f56528bf949e4c3e9b3dcdc">&#9670;&nbsp;</a></span>createLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT* <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Create a leaf node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf node </dd></dl>
<div class="fragment"><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        {</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;          LeafNode* leaf_node;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;          BranchNode* leaf_node_parent;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> ,<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, leaf_node, leaf_node_parent);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          LeafContainerT* ret = leaf_node-&gt;getContainerPtr();</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2ea6c9036575ec8e55ae59938036478a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">pcl::octree::OctreeBase::root_node_</a></div><div class="ttdeci">BranchNode * root_node_</div><div class="ttdoc">Pointer to root branch node of octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:579</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a441fbe7d3df743a9e13be569c9620c55"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">pcl::octree::OctreeBase::createLeafRecursive</a></div><div class="ttdeci">unsigned int createLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&amp;return_leaf_arg, BranchNode *&amp;parent_of_leaf_arg)</div><div class="ttdoc">Create a leaf node at octree key. If leaf node does already exist, it is returned.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:284</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_af37a3e55a658f428b6190dcdcec28b89"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">pcl::octree::OctreeBase::depth_mask_</a></div><div class="ttdeci">unsigned int depth_mask_</div><div class="ttdoc">Depth mask based on octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:582</div></div>
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<a id="a62ea5ae9440654d09b0db929675ed5da"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a62ea5ae9440654d09b0db929675ed5da">&#9670;&nbsp;</a></span>createLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT * <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node already exist, this method returns the existing node </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to new leaf node container. </dd></dl>
<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <span class="comment">// generate key</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">createLeaf</a> (key));</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a62ea5ae9440654d09b0db929675ed5da"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a62ea5ae9440654d09b0db929675ed5da">pcl::octree::OctreeBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:122</div></div>
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<a id="afca846cfd2002a905d1304bf663394f0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afca846cfd2002a905d1304bf663394f0">&#9670;&nbsp;</a></span>createLeafChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeafChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Create and add a new leaf child to a branch class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer of new leaf child to this reference </dd></dl>
<div class="fragment"><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;        {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;          LeafNode* new_leaf_child = <span class="keyword">new</span> LeafNode();</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          branch_arg[child_idx_arg] = <span class="keyword">static_cast&lt;</span>OctreeNode*<span class="keyword">&gt;</span> (new_leaf_child);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          <span class="keywordflow">return</span> new_leaf_child;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a441fbe7d3df743a9e13be569c9620c55"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a441fbe7d3df743a9e13be569c9620c55">&#9670;&nbsp;</a></span>createLeafRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">unsigned int <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;&#160;</td>
          <td class="paramname"><em>return_leaf_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&amp;&#160;</td>
          <td class="paramname"><em>parent_of_leaf_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Create a leaf node at octree key. If leaf node does already exist, it is returned. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and for branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">return_leaf_arg</td><td>return pointer to leaf node </td></tr>
    <tr><td class="paramname">parent_of_leaf_arg</td><td>return pointer to parent of leaf node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>depth mask at which leaf node was created </dd></dl>
<div class="fragment"><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;        <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;        child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        OctreeNode* child_node = (*branch_arg)[child_idx];</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        <span class="keywordflow">if</span> (!child_node)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;          <span class="keywordflow">if</span> ((!<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">dynamic_depth_enabled_</a>) &amp;&amp; (depth_mask_arg &gt; 1))</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;          {</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;            <span class="comment">// if required branch does not exist -&gt; create it</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            BranchNode* childBranch = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>++;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;            <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;            <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key_arg, depth_mask_arg / 2, childBranch, return_leaf_arg, parent_of_leaf_arg);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;          {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;            <span class="comment">// if leaf node at child_idx does not exist</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;            LeafNode* leaf_node = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;            return_leaf_arg = leaf_node;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;            parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;            this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>++;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;          }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        }</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="comment">// Node exists already</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;              <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;              <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a441fbe7d3df743a9e13be569c9620c55">createLeafRecursive</a> (key_arg, depth_mask_arg / 2, <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node),</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                                          return_leaf_arg, parent_of_leaf_arg);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;              return_leaf_arg = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (child_node);;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;              parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          }</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        }</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        <span class="keywordflow">return</span> (depth_mask_arg &gt;&gt; 1);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2a74d829fa6bc41a9823e42b9bbb5e59"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">pcl::octree::OctreeBase::leaf_count_</a></div><div class="ttdeci">std::size_t leaf_count_</div><div class="ttdoc">Amount of leaf nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:573</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2cec91269a5138bf75973e866015c660"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">pcl::octree::OctreeBase::createBranchChild</a></div><div class="ttdeci">BranchNode * createBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Create and add a new branch child to a branch class</div><div class="ttdef"><b>Definition:</b> octree_base.h:430</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a554d101328545d88304af3d817fb4f19"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">pcl::octree::OctreeBase::branch_count_</a></div><div class="ttdeci">std::size_t branch_count_</div><div class="ttdoc">Amount of branch nodes</div><div class="ttdef"><b>Definition:</b> octree_base.h:576</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6044a82930ab95b427828ff022e7d1e3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6044a82930ab95b427828ff022e7d1e3">pcl::octree::OctreeBase::dynamic_depth_enabled_</a></div><div class="ttdeci">bool dynamic_depth_enabled_</div><div class="ttdoc">Enable dynamic_depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:588</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_afca846cfd2002a905d1304bf663394f0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">pcl::octree::OctreeBase::createLeafChild</a></div><div class="ttdeci">LeafNode * createLeafChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Create and add a new leaf child to a branch class</div><div class="ttdef"><b>Definition:</b> octree_base.h:445</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a4766cdedf01eac19a565648b372dac93"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4766cdedf01eac19a565648b372dac93">&#9670;&nbsp;</a></span>deleteBranch()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteBranch </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Delete branch and all its subchilds from octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        {</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          <span class="comment">// delete all branch node children</span></div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (branch_arg, i);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_aeb95bc5e61e5c7c5e80030be0fda5997"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">pcl::octree::OctreeBase::deleteBranchChild</a></div><div class="ttdeci">void deleteBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Delete child node and all its subchilds from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:380</div></div>
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</div>
</div>
<a id="aeb95bc5e61e5c7c5e80030be0fda5997"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeb95bc5e61e5c7c5e80030be0fda5997">&#9670;&nbsp;</a></span>deleteBranchChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteBranchChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Delete child node and all its subchilds from octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        {</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <span class="keywordflow">if</span> (branch_arg.hasChild(child_idx_arg))</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          {</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;            OctreeNode* branch_child = branch_arg[child_idx_arg];</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;            </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;            <span class="keywordflow">switch</span> (branch_child-&gt;getNodeType ())</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;            {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;              <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;              {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                <span class="comment">// free child branch recursively</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">deleteBranch</a> (*<span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branch_child));</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;                <span class="comment">// delete branch node</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;                <span class="keyword">delete</span> branch_child;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;              }</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;              <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;              {</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;                <span class="comment">// delete leaf node</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;                <span class="keyword">delete</span> branch_child;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;              }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;              <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            }</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;            <span class="comment">// set branch child pointer to 0</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            branch_arg[child_idx_arg] = 0;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;          }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a4766cdedf01eac19a565648b372dac93"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a4766cdedf01eac19a565648b372dac93">pcl::octree::OctreeBase::deleteBranch</a></div><div class="ttdeci">void deleteBranch(BranchNode &amp;branch_arg)</div><div class="ttdoc">Delete branch and all its subchilds from octree</div><div class="ttdef"><b>Definition:</b> octree_base.h:416</div></div>
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<a id="a6304cd86b4c714e949c68c328f10e8c6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6304cd86b4c714e949c68c328f10e8c6">&#9670;&nbsp;</a></span>deleteLeafRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively search and delete leaf node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if branch does not contain any childs; "false" otherwise. This indicates if current branch can be deleted, too. </dd></dl>
<div class="fragment"><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      {</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;        <span class="comment">// indicates if branch is empty and can be safely removed</span></div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;        <span class="keywordtype">bool</span> b_no_children;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        OctreeNode* child_node = (*branch_arg)[child_idx];</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;              BranchNode* child_branch;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;              child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;              <span class="comment">// recursively explore the indexed child branch</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;              b_no_children = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (key_arg, depth_mask_arg / 2, child_branch);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;              <span class="keywordflow">if</span> (!b_no_children)</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;              {</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                <span class="comment">// child branch does not own any sub-child nodes anymore -&gt; delete child branch</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>--;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;              }</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;              <span class="comment">// return existing leaf node</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;              <span class="comment">// our child is a leaf node -&gt; delete it</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#aeb95bc5e61e5c7c5e80030be0fda5997">deleteBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;              this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>--;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        }</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        <span class="comment">// check if current branch still owns children</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        b_no_children = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; (!b_no_children) &amp;&amp; (child_idx &lt; 8); child_idx++)</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          b_no_children = branch_arg-&gt;hasChild (child_idx);</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;        <span class="comment">// return true if current branch can be deleted</span></div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        <span class="keywordflow">return</span> (b_no_children);</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a6304cd86b4c714e949c68c328f10e8c6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">pcl::octree::OctreeBase::deleteLeafRecursive</a></div><div class="ttdeci">bool deleteLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)</div><div class="ttdoc">Recursively search and delete leaf node</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:384</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a7fcd3895195eb4102f46d4d54826f554"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7fcd3895195eb4102f46d4d54826f554">&#9670;&nbsp;</a></span>deserializeTree() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_input_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_input_arg</td><td>reference to input vector for reading binary tree structure. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        OctreeKey new_key;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="comment">// free existing tree before tree rebuild</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ();</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">//iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        std::vector&lt;char&gt;::const_iterator binary_tree_out_it = binary_tree_out_arg.begin ();</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        std::vector&lt;char&gt;::const_iterator binary_tree_out_it_end = binary_tree_out_arg.end ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>,</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;                                  <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>,</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;                                  new_key,</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;                                  binary_tree_out_it,</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                  binary_tree_out_it_end,</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                                  0,</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                                  0);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a1530f19c68fa7fed82198f1444b7b114"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">pcl::octree::OctreeBase::deserializeTreeRecursive</a></div><div class="ttdeci">void deserializeTreeRecursive(BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_input_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg)</div><div class="ttdoc">Recursive method for deserializing octree structure</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:503</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a9abc561a4c6672aba260f688c8250682"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">pcl::octree::OctreeBase::deleteTree</a></div><div class="ttdeci">void deleteTree()</div><div class="ttdoc">Delete the octree structure and its leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:164</div></div>
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<a id="a38698f38bee2f8748d20713b61f827db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a38698f38bee2f8748d20713b61f827db">&#9670;&nbsp;</a></span>deserializeTree() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_input_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with LeafContainerT elements from the dataVector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_input_arg</td><td>reference to input vector for reading binary tree structure. </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>pointer to container vector. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      {</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        OctreeKey new_key;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="comment">// set data iterator to first element</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_vector_it = leaf_container_vector_arg.begin ();</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="comment">// set data iterator to last element</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_vector_it_end = leaf_container_vector_arg.end ();</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="comment">// free existing tree before tree rebuild</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a9abc561a4c6672aba260f688c8250682">deleteTree</a> ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        <span class="comment">//iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        std::vector&lt;char&gt;::const_iterator binary_tree_input_it = binary_tree_in_arg.begin ();</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;        std::vector&lt;char&gt;::const_iterator binary_tree_input_it_end = binary_tree_in_arg.end ();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>,</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;                                  <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>,</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;                                  new_key,</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                                  binary_tree_input_it,</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                                  binary_tree_input_it_end,</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;                                  &amp;leaf_vector_it,</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;                                  &amp;leaf_vector_it_end);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      }</div>
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</div>
</div>
<a id="a1530f19c68fa7fed82198f1444b7b114"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1530f19c68fa7fed82198f1444b7b114">&#9670;&nbsp;</a></span>deserializeTreeRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTreeRecursive </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; char &gt;::const_iterator &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_input_it_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; char &gt;::const_iterator &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_input_it_end_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt;::const_iterator *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_it_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt;::const_iterator *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_it_end_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursive method for deserializing octree structure </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and branch depth indicator </td></tr>
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">binary_tree_input_it_arg</td><td>iterator to binary input vector </td></tr>
    <tr><td class="paramname">binary_tree_input_it_end_arg</td><td>end iterator of binary input vector </td></tr>
    <tr><td class="paramname">leaf_container_vector_it_arg</td><td>iterator pointing to current LeafContainerT object to be added to a leaf node </td></tr>
    <tr><td class="paramname">leaf_container_vector_it_end_arg</td><td>iterator pointing to last object in LeafContainerT input vector. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      {</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <span class="keywordtype">char</span> node_bits;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keywordflow">if</span> (binary_tree_input_it_arg != binary_tree_input_it_end_arg)</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;          <span class="comment">// read branch occupancy bit pattern from input vector</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;          node_bits = (*binary_tree_input_it_arg);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;          binary_tree_input_it_arg++;</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;          <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;          <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;            <span class="comment">// if occupancy bit for child_idx is set..</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;            <span class="keywordflow">if</span> (node_bits &amp; (1 &lt;&lt; child_idx))</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            {</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;              <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;              key_arg.pushBranch (child_idx);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;              <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;              {</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;                <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                BranchNode * newBranch = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2cec91269a5138bf75973e866015c660">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>++;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;                <span class="comment">// recursively proceed with new child branch</span></div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a1530f19c68fa7fed82198f1444b7b114">deserializeTreeRecursive</a> (newBranch, depth_mask_arg / 2, key_arg,</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                                          binary_tree_input_it_arg, binary_tree_input_it_end_arg,</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                                          leaf_container_vector_it_arg, leaf_container_vector_it_end_arg);</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;              }</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;              {</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;                <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;                LeafNode* child_leaf = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#afca846cfd2002a905d1304bf663394f0">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                <span class="keywordflow">if</span> (leaf_container_vector_it_arg &amp;&amp; (*leaf_container_vector_it_arg != *leaf_container_vector_it_end_arg))</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;                {</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;                  LeafContainerT&amp; container = **child_leaf;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;                  container = ***leaf_container_vector_it_arg;</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;                  ++*leaf_container_vector_it_arg;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;                }</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>++;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;                <span class="comment">// execute deserialization callback</span></div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">deserializeTreeCallback</a> (**child_leaf, key_arg);</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;              }</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160; </div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;              <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;              key_arg.popBranch ();</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;            }</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;          }</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_afac6e5f2cf2e95a27b4a529275e7ba7e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#afac6e5f2cf2e95a27b4a529275e7ba7e">pcl::octree::OctreeBase::deserializeTreeCallback</a></div><div class="ttdeci">virtual void deserializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;)</div><div class="ttdoc">Callback executed for every leaf node during deserialization</div><div class="ttdef"><b>Definition:</b> octree_base.h:540</div></div>
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<a id="ae54aebbcf08f825f5426fc1f6f66e0b2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae54aebbcf08f825f5426fc1f6f66e0b2">&#9670;&nbsp;</a></span>existLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::existLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Check for existance of a leaf node in the octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if leaf node is found; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        {</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a>(key_arg) != 0);</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a8cb31ab9a56944b96eef0ace8dedacbe"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">pcl::octree::OctreeBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:108</div></div>
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<a id="adde845dfa80aec70762f8297e2b2e97c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#adde845dfa80aec70762f8297e2b2e97c">&#9670;&nbsp;</a></span>existLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::existLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if leaf node search is successful, otherwise it returns "false". </dd></dl>
<div class="fragment"><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="comment">// generate key</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">existLeaf</a> (key));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_adde845dfa80aec70762f8297e2b2e97c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#adde845dfa80aec70762f8297e2b2e97c">pcl::octree::OctreeBase::existLeaf</a></div><div class="ttdeci">bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</div><div class="ttdoc">idx_x_arg for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:136</div></div>
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<a id="a08e5792b29cd493d54ba400a23505b40"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a08e5792b29cd493d54ba400a23505b40">&#9670;&nbsp;</a></span>findLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT* <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Find leaf node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf node. If leaf node is not found, this pointer returns 0. </dd></dl>
<div class="fragment"><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;        {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          LeafContainerT* result = 0;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, result);</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ab3f8693893b6ee4925cf082716a607ed"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">pcl::octree::OctreeBase::findLeafRecursive</a></div><div class="ttdeci">void findLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&amp;result_arg) const</div><div class="ttdoc">Recursively search for a given leaf node and return a pointer.</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:345</div></div>
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<a id="a8cb31ab9a56944b96eef0ace8dedacbe"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8cb31ab9a56944b96eef0ace8dedacbe">&#9670;&nbsp;</a></span>findLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT * <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node already exist, this method returns the existing node </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf node container if found, null pointer otherwise. </dd></dl>
<div class="fragment"><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="comment">// generate key</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a8cb31ab9a56944b96eef0ace8dedacbe">findLeaf</a> (key));</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      }</div>
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<a id="ab3f8693893b6ee4925cf082716a607ed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab3f8693893b6ee4925cf082716a607ed">&#9670;&nbsp;</a></span>findLeafRecursive()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">LeafContainerT *&amp;&#160;</td>
          <td class="paramname"><em>result_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively search for a given leaf node and return a pointer. </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node does not exist, a 0 pointer is returned. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and for branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">result_arg</td><td>pointer to leaf node class </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      {</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        OctreeNode* child_node = (*branch_arg)[child_idx];</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keywordflow">if</span> (child_node)</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        {</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;          {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;              <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;              BranchNode* child_branch;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;              child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab3f8693893b6ee4925cf082716a607ed">findLeafRecursive</a> (key_arg, depth_mask_arg / 2, child_branch, result_arg);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;              <span class="comment">// return existing leaf node</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;              LeafNode* child_leaf;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;              child_leaf = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;              result_arg = child_leaf-&gt;getContainerPtr ();</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          }</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="abe9d23b2322f32b2ee26c1d9c02dcea3"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abe9d23b2322f32b2ee26c1d9c02dcea3">&#9670;&nbsp;</a></span>getBranchBitPattern()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">char <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchBitPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate bit pattern reflecting the existence of child node pointers </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a single byte with 8 bits of child node information </dd></dl>
<div class="fragment"><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;          <span class="keywordtype">char</span> node_bits;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;          <span class="comment">// create bit pattern</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          node_bits = 0;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++) {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;            <span class="keyword">const</span> OctreeNode* child = branch_arg.getChildPtr(i);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;            node_bits |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ((!!child) &lt;&lt; i);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;          }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;          <span class="keywordflow">return</span> (node_bits);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a9a4721b246ca10cb45f130835e6e5f5b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9a4721b246ca10cb45f130835e6e5f5b">&#9670;&nbsp;</a></span>getBranchChildPtr()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchChildPtr </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Retrieve a child node pointer for child node at child_idx. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to octree child node class </dd></dl>
<div class="fragment"><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;        {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;          <span class="keywordflow">return</span> branch_arg.getChildPtr(child_idx_arg);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a6969af4d54d7c8d41b16cc00579744d0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6969af4d54d7c8d41b16cc00579744d0">&#9670;&nbsp;</a></span>getBranchCount()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::size_t <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchCount </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return the amount of existing branch nodes in the octree. </p>
<dl class="section return"><dt>返回</dt><dd>amount of branch nodes. </dd></dl>
<div class="fragment"><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
</div><!-- fragment -->
</div>
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<a id="ac2bed940d92096c56cb9efc08aee0af9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2bed940d92096c56cb9efc08aee0af9">&#9670;&nbsp;</a></span>getLeafCount()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::size_t <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getLeafCount </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return the amount of existing leafs in the octree. </p>
<dl class="section return"><dt>返回</dt><dd>amount of registered leaf nodes. </dd></dl>
<div class="fragment"><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="aaedf340984f00bf088c8fac94fb176d7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaedf340984f00bf088c8fac94fb176d7">&#9670;&nbsp;</a></span>getTreeDepth()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">unsigned int <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getTreeDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Get the maximum depth of the octree. </p>
<dl class="section return"><dt>返回</dt><dd>depth_arg: maximum depth of octree </dd></dl>
<div class="fragment"><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a2727267eed42ae776bbd8ea84b91187d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">pcl::octree::OctreeBase::octree_depth_</a></div><div class="ttdeci">unsigned int octree_depth_</div><div class="ttdoc">Octree depth</div><div class="ttdef"><b>Definition:</b> octree_base.h:585</div></div>
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<a id="a84f6098ca21b73b3cf13ca2596238326"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a84f6098ca21b73b3cf13ca2596238326">&#9670;&nbsp;</a></span>Log2()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::Log2 </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>n_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Helper function to calculate the binary logarithm </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">n_arg</td><td>some value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>binary logarithm (log2) of argument n_arg </dd></dl>
<div class="fragment"><div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="keywordflow">return</span> log( n_arg ) / log( 2.0 );</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a4cf92b5f2a5b59e679c12aab3dd276d6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4cf92b5f2a5b59e679c12aab3dd276d6">&#9670;&nbsp;</a></span>octreeCanResize()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::octreeCanResize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment. </p>
<dl class="section return"><dt>返回</dt><dd>"true" </dd></dl>
<div class="fragment"><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;        {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a4fc084486bee5e49223e52b5ea1a40c8"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4fc084486bee5e49223e52b5ea1a40c8">&#9670;&nbsp;</a></span>removeLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::removeLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Remove leaf node from octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          <span class="keywordflow">if</span> (key_arg &lt;= <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ae03f7feba50b4bca74c8a6aeba9aba3c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">pcl::octree::OctreeBase::max_key_</a></div><div class="ttdeci">OctreeKey max_key_</div><div class="ttdoc">key range</div><div class="ttdef"><b>Definition:</b> octree_base.h:591</div></div>
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</div>
<a id="af316c0dedeb707141de115778016c969"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af316c0dedeb707141de115778016c969">&#9670;&nbsp;</a></span>removeLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::removeLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="comment">// generate key</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a6304cd86b4c714e949c68c328f10e8c6">deleteLeafRecursive</a> (key, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
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<a id="a29a4753c659cdd7b27e7e83ad705c89c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a29a4753c659cdd7b27e7e83ad705c89c">&#9670;&nbsp;</a></span>serializeLeafs()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeLeafs </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Outputs a vector of all LeafContainerT elements that are stored within the octree leaf nodes. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">leaf_container_vector_arg</td><td>pointers to LeafContainerT vector that receives a copy of all LeafContainerT objects in the octree. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        OctreeKey new_key;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="comment">// clear output vector</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        leaf_container_vector_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, new_key, 0, &amp;leaf_container_vector_arg);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_ab9fdbf009e279243a3a1cd99caec05db"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">pcl::octree::OctreeBase::serializeTreeRecursive</a></div><div class="ttdeci">void serializeTreeRecursive(const BranchNode *branch_arg, OctreeKey &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg) const</div><div class="ttdoc">Recursively explore the octree and output binary octree description together with a vector of leaf no...</div><div class="ttdef"><b>Definition:</b> octree_base.hpp:441</div></div>
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<a id="aa0be9db52726ff7e1e58fd384e0f5e54"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa0be9db52726ff7e1e58fd384e0f5e54">&#9670;&nbsp;</a></span>serializeTree() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Serialize octree into a binary output vector describing its branch node structure. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_out_arg</td><td>reference to output vector for writing binary tree structure. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        OctreeKey new_key;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="comment">// clear binary vector</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        binary_tree_out_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, new_key, &amp;binary_tree_out_arg, 0);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      }</div>
</div><!-- fragment -->
</div>
</div>
<a id="a4e6c5b482d5280d7809b4a8484b77a5e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4e6c5b482d5280d7809b4a8484b77a5e">&#9670;&nbsp;</a></span>serializeTree() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Serialize octree into a binary output vector describing its branch node structure and push all LeafContainerT elements stored in the octree to a vector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_out_arg</td><td>reference to output vector for writing binary tree structure. </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>pointer to all LeafContainerT objects in the octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        OctreeKey new_key;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="comment">// clear output vectors</span></div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        binary_tree_out_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a554d101328545d88304af3d817fb4f19">branch_count_</a>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        leaf_container_vector_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2a74d829fa6bc41a9823e42b9bbb5e59">leaf_count_</a>);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2ea6c9036575ec8e55ae59938036478a">root_node_</a>, new_key, &amp;binary_tree_out_arg, &amp;leaf_container_vector_arg);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      }</div>
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<a id="ab9fdbf009e279243a3a1cd99caec05db"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9fdbf009e279243a3a1cd99caec05db">&#9670;&nbsp;</a></span>serializeTreeRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTreeRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; char &gt; *&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt; *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively explore the octree and output binary octree description together with a vector of leaf node LeafContainerTs. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">binary_tree_out_arg</td><td>binary output vector </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>writes LeafContainerT pointers to this LeafContainerT* vector. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordtype">char</span> node_bit_pattern;</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        <span class="comment">// branch occupancy bit pattern</span></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        node_bit_pattern = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">getBranchBitPattern</a> (*branch_arg);</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="comment">// write bit pattern to output vector</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <span class="keywordflow">if</span> (binary_tree_out_arg)</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;          binary_tree_out_arg-&gt;push_back (node_bit_pattern);</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160; </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        {</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;          <span class="comment">// if child exist</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;          <span class="keywordflow">if</span> (branch_arg-&gt;hasChild (child_idx))</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;            <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;            key_arg.pushBranch (child_idx);</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            OctreeNode *childNode = branch_arg-&gt;getChildPtr (child_idx);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;            <span class="keywordflow">switch</span> (childNode-&gt;getNodeType ())</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;            {</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;              {</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ab9fdbf009e279243a3a1cd99caec05db">serializeTreeRecursive</a> (<span class="keyword">static_cast&lt;</span><span class="keyword">const </span>BranchNode*<span class="keyword">&gt;</span> (childNode), key_arg, binary_tree_out_arg,</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                                        leaf_container_vector_arg);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;              }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;              <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;              {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (childNode);</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;                <span class="keywordflow">if</span> (leaf_container_vector_arg)</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;                  leaf_container_vector_arg-&gt;push_back (child_leaf-&gt;getContainerPtr ());</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;                <span class="comment">// we reached a leaf node -&gt; execute serialization callback</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">serializeTreeCallback</a> (**child_leaf, key_arg);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;              }</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;              <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;            }</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160; </div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;            <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;            key_arg.popBranch ();</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;          }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        }</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a0822f6b8272dfe619009873bba7a1211"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a0822f6b8272dfe619009873bba7a1211">pcl::octree::OctreeBase::serializeTreeCallback</a></div><div class="ttdeci">virtual void serializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;) const</div><div class="ttdoc">Callback executed for every leaf node during serialization</div><div class="ttdef"><b>Definition:</b> octree_base.h:532</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_abe9d23b2322f32b2ee26c1d9c02dcea3"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#abe9d23b2322f32b2ee26c1d9c02dcea3">pcl::octree::OctreeBase::getBranchBitPattern</a></div><div class="ttdeci">char getBranchBitPattern(const BranchNode &amp;branch_arg) const</div><div class="ttdoc">Generate bit pattern reflecting the existence of child node pointers</div><div class="ttdef"><b>Definition:</b> octree_base.h:360</div></div>
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<a id="a61d7ddd454369c5e23054bb1cdadc540"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a61d7ddd454369c5e23054bb1cdadc540">&#9670;&nbsp;</a></span>setBranchChildPtr()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setBranchChildPtr </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td>
          <td class="paramname"><em>new_child_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Assign new child node to branch </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
    <tr><td class="paramname">new_child_arg</td><td>pointer to new child node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;          branch_arg[child_idx_arg] = new_child_arg;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        }</div>
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<a id="a2b65a6dadccce46ef7c2434f80d907d7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2b65a6dadccce46ef7c2434f80d907d7">&#9670;&nbsp;</a></span>setMaxVoxelIndex()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setMaxVoxelIndex </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_voxel_index_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the maximum amount of voxels per dimension. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">max_voxel_index_arg</td><td>maximum amount of voxels per dimension </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tree_depth;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        assert(max_voxel_index_arg&gt;0);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="comment">// tree depth == bitlength of maxVoxels</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        tree_depth = std::max ( (std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (OctreeKey::maxDepth), <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::ceil (<a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">Log2</a> (max_voxel_index_arg))))), 0u);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> = (1 &lt;&lt; (tree_depth - 1));</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html_a84f6098ca21b73b3cf13ca2596238326"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html#a84f6098ca21b73b3cf13ca2596238326">pcl::octree::OctreeBase::Log2</a></div><div class="ttdeci">double Log2(double n_arg)</div><div class="ttdoc">Helper function to calculate the binary logarithm</div><div class="ttdef"><b>Definition:</b> octree_base.h:554</div></div>
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<a id="af7de0fe2ec6f460d6e448b846318526b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af7de0fe2ec6f460d6e448b846318526b">&#9670;&nbsp;</a></span>setTreeDepth()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setTreeDepth </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_depth_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the maximum depth of the octree. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">max_depth_arg</td><td>maximum depth of octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        assert(depth_arg&gt;0);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="comment">// set octree depth</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#a2727267eed42ae776bbd8ea84b91187d">octree_depth_</a> = depth_arg;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#af37a3e55a658f428b6190dcdcec28b89">depth_mask_</a> = (1 &lt;&lt; (depth_arg - 1));</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        <span class="comment">// define max. keys</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.x = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.y = <a class="code" href="classpcl_1_1octree_1_1_octree_base.html#ae03f7feba50b4bca74c8a6aeba9aba3c">max_key_</a>.z = (1 &lt;&lt; depth_arg) - 1;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      }</div>
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<hr/>该类的文档由以下文件生成:<ul>
<li>octree/include/pcl/octree/<a class="el" href="octree_2include_2pcl_2octree_2octree__base_8h_source.html">octree_base.h</a></li>
<li>octree/include/pcl/octree/impl/<a class="el" href="octree_2include_2pcl_2octree_2impl_2octree__base_8hpp_source.html">octree_base.hpp</a></li>
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